10 episodes · 30 fps · 8 cameras · 1024×768 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_taccap_gripper",
"total_episodes": 10,
"total_frames": 4008,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"left_gripper.pos",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"right_gripper.pos",
"head_camera.x",
"head_camera.y",
"head_camera.z",
"head_camera.r1",
"head_camera.r2",
"head_camera.r3",
"head_camera.r4",
"head_camera.r5",
"head_camera.r6"
],
"shape": [
29
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"left_gripper.pos",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"right_gripper.pos",
"head_camera.x",
"head_camera.y",
"head_camera.z",
"head_camera.r1",
"head_camera.r2",
"head_camera.r3",
"head_camera.r4",
"head_camera.r5",
"head_camera.r6"
],
"shape": [
29
]
},
"observation.images.left_tactile_left": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_tactile_right": {
"dtype": "video",
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400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_left": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_right": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_head": {
"dtype": "video",
"shape": [
768,
1024,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 768,
"video.width": 1024,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_head": {
"dtype": "video",
"shape": [
768,
1024,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 768,
"video.width": 1024,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
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"names": null
}
}
}
Citation
BibTeX:
@misc{xense-taccap-lerobot,
author = {XenseRobotics Team},
title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},
howpublished = {\url{https://github.com/Vertax42/xense-taccap-lerobot}},
year = {2026}
}
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